HAL_ChibiOS: implement in_expected_delay()

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -321,13 +321,25 @@ void Scheduler::_timer_thread(void *arg)
         // process any pending RC output requests
         hal.rcout->timer_tick();
 
-        if (sched->expect_delay_start != 0) {
-            uint32_t now = AP_HAL::millis();
-            if (now - sched->expect_delay_start <= sched->expect_delay_length) {
-                sched->watchdog_pat();
-            }
+        if (sched->in_expected_delay()) {
+            sched->watchdog_pat();
+        }
+    }
+}
+
+/*
+  return true if we are in a period of expected delay. This can be
+  used to suppress error messages
+*/
+bool Scheduler::in_expected_delay(void) const
+{
+    if (expect_delay_start != 0) {
+        uint32_t now = AP_HAL::millis();
+        if (now - expect_delay_start <= expect_delay_length) {
+            return true;
         }
     }
+    return false;
 }
 
 #ifndef HAL_NO_MONITOR_THREAD

libraries/AP_HAL_ChibiOS/Scheduler.h

@@ -105,6 +105,12 @@ public:
      */
     void     expect_delay_ms(uint32_t ms) override;
 
+    /*
+      return true if we are in a period of expected delay. This can be
+      used to suppress error messages
+     */
+    bool in_expected_delay(void) const override;
+    
     /*
       disable interrupts and return a context that can be used to
       restore the interrupt state. This can be used to protect